Dynamics Identification of Parallel Manipulators

verfasst von

H. Abdellatif, Jens Kotlarski, Bodo Heimann

Abstract

The article provides a review on the dynamics identification for parallel manipulators. Four major steps are necessary to he treated systematically. The first preliminary step consists in the formulation of the dynamics model in a linear form with respect to the parameter set to be identified. The paper outlines this issue and points out relevant aspects for the case of parallel robots. The second step is the appropriate experimental design that aims providing measurements containing necessary information to allow for reliable and efficient estimation. At this stage the choice of the estimation technique is addressed. Last, the impact of identification on the control accuracy is stressed out when the estimated model is used for dynamics compensation. Throughout the paper, appropriate methods are presented, which are substantiated with experimental results.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

37-52

Anzahl der Seiten

16

Publikationsdatum

2008

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja